CN106113011A - The rotation arm structure of auto parts processing automatic line mechanical hand - Google Patents
The rotation arm structure of auto parts processing automatic line mechanical hand Download PDFInfo
- Publication number
- CN106113011A CN106113011A CN201610570295.5A CN201610570295A CN106113011A CN 106113011 A CN106113011 A CN 106113011A CN 201610570295 A CN201610570295 A CN 201610570295A CN 106113011 A CN106113011 A CN 106113011A
- Authority
- CN
- China
- Prior art keywords
- bearing pin
- arm
- auto parts
- wrist part
- mechanical hand
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/024—Gripping heads and other end effectors servo-actuated comprising articulated grippers having fingers directly connected to actuator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/045—Polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
Abstract
The invention belongs to auto parts and components automation equipment field, be specifically related to the rotation arm structure of a kind of auto parts processing automatic line mechanical hand, the end including arm wrist part structure and arm wrist part structure is provided with gripper structure；Described arm wrist part structure includes axle sleeve and arm, one control element integral box is installed on arm, the end of arm is movably installed with the 3rd bearing pin sealed by upper and lower hubcap, it is provided with rotary apparatus on described 3rd bearing pin, rotary apparatus includes being fixed on the moving plate on the 3rd bearing pin by screw, 3rd bearing pin outer peripheral face also slidably connects stator, and stator connects by the axle sleeve of screw and the 3rd bearing pin is fixing, and the inner peripheral surface of its bottom bracket axle is slidably connected with moving plate.The present invention improves production rate, shortens the production cycle, improves product quality, more directly improves the economic benefit of enterprise.
Description
Technical field
The invention belongs to auto parts and components automation equipment field, be specifically related to a kind of auto parts processing automatic line machinery
The rotation arm structure of hands.
Background technology
Along with manufacturing development, enterprise introduces the more and more brighter of the Heterosis that automatic production line brought
Aobvious, automatic production line produces the production rate that not only increases, and shortens the production cycle, improves product quality, more directly improves
The economic benefit of enterprise, in today that personnel cost is the highest, it is the most very urgent that enterprise realizes unmanned automated production, directly
Connect the development affecting enterprise, the future of enterprise.
The particularly automatic production line of Automobile Enterprises, due to the spraying paint of automobile, welds and all there is the situation that high temperature is high-risk,
Employing manpower intervention is unrealistic；The fabrication and installation of auto parts and components all use standardized program to install, and artificial operation makes peace
The technical problems such as dress exists fine not, error, therefore need to use standardized production line, standardized production line arises at the historic moment
The plant equipment of various fabrication and installation auto parts, this case thus produces.
Summary of the invention
It is an object of the invention to provide the rotation arm structure of a kind of auto parts processing automatic line mechanical hand, to improve
Production rate, shortens the production cycle, improves product quality, more directly improves the economic benefit of enterprise.
For achieving the above object, the technical scheme that the present invention specifically provides is: a kind of auto parts processing automatic line machinery
The rotation arm structure of hands, the end including arm wrist part structure and arm wrist part structure is provided with gripper structure；
Described arm wrist part structure includes axle sleeve and arm, and arm is provided with a control element integral box, lives in the end of arm
Move and the 3rd bearing pin sealed by upper and lower hubcap is installed, described 3rd bearing pin is provided with rotary apparatus, rotary apparatus
Including the moving plate being fixed on the 3rd bearing pin by screw, the 3rd bearing pin outer peripheral face also slidably connects stator, and stator passes through spiral shell
Nail is fixing with the axle sleeve of the 3rd bearing pin to be connected, and the inner peripheral surface of its bottom bracket axle is slidably connected with moving plate；
Described gripper structure includes the bearing with the first elongated slot, is provided with the gripper piston with gripper piston rod in bearing,
Gripper piston rod one end is fixed with axle ring by the first bearing pin, and axle ring is fixed with the second bearing pin, and this second bearing pin can be along institute
State the first elongated slot displacement；It is positioned on the second bearing pin and is movably set with two first levers with the second bearing pin for cross point, each first
Lever is provided with the second elongated slot, and the second bearing pin can be along the second elongated slot displacement；Each first lever-linked connection has the second lever,
The inner side of this second lever is fixed with V-type fixture block by screw correspondence.
Further, the end of described arm is movably installed with the 3rd bearing pin by deep groove ball bearing.
Further, it is provided with spline inside described V-type fixture block.
Beneficial effects of the present invention: the present invention improves production rate by automated machine equipment, shortens and produces week
Phase, improve product quality, more directly improve the economic benefit of enterprise.
Accompanying drawing explanation
Fig. 1 is present configuration schematic diagram；Fig. 2 is the A-A sectional view of Fig. 1 of the present invention；Fig. 3 is gripper structure of the present invention
Schematic diagram；Fig. 4 is the A-A sectional view of Fig. 3 of the present invention.
Detailed description of the invention
As Figure 1-4, what the present invention disclosed is the rotation arm structure of a kind of auto parts processing automatic line mechanical hand,
End including arm wrist part structure 3 and arm wrist part structure 3 is provided with gripper structure 4；
In conjunction with Fig. 1, shown in 2, described arm wrist part structure 3 includes arm 31, and arm 31 is provided with a control element integral box
32, the end of arm 31 is movably installed with the 3rd bearing pin 35 sealed by upper and lower hubcap (33,34), described 3rd pin
Being provided with rotary apparatus 36 on axle 35, rotary apparatus 36 includes being fixed on the moving plate 361 of 35 on the 3rd bearing pin by screw 10, the
Three bearing pin 35 outer peripheral faces also slidably connect stator 362, and stator 362 is fixed by the axle sleeve 363 of screw 10 and the 3rd bearing pin 35
Connecting, the inner peripheral surface of its bottom bracket axle 363 is slidably connected with moving plate 361.
In conjunction with Fig. 3, shown in 4, described gripper structure 4 includes the bearing 41 with the first elongated slot 411, is provided with in bearing 41
With the gripper piston 43 of gripper piston rod 42, gripper piston rod 42 one end is fixed with axle ring 45, axle ring by the first bearing pin 44
Being fixed with the second bearing pin 46 on 45, this second bearing pin 46 can be along described first elongated slot 411 displacement；Be positioned on the second bearing pin 46 with
Second bearing pin 46 is movably set with two first levers 47 for cross point, and each first lever 47 is provided with the second elongated slot 471, and second
Bearing pin 46 can be along the second elongated slot 471 displacement；Each first lever 47 has been connected the second lever 48, this second lever 48
Inner side is fixed with V-type fixture block 49 by screw correspondence.
The end of described arm 31 is movably installed with the 3rd bearing pin 35 by deep groove ball bearing 37；In described V-type fixture block 49
Side is provided with spline.
Above-described embodiment is only used for illustrating the inventive concept of the present invention, rather than the restriction to rights protection of the present invention,
All changes utilizing this design that the present invention carries out unsubstantiality, all should fall into protection scope of the present invention.
Claims (3)
1. the rotation arm structure of an auto parts processing automatic line mechanical hand, it is characterised in that: include arm wrist part structure
The end of arm wrist part structure is provided with gripper structure；
Described arm wrist part structure includes axle sleeve and arm, and arm is provided with a control element integral box, lives in the end of arm
Move and the 3rd bearing pin sealed by upper and lower hubcap is installed, described 3rd bearing pin is provided with rotary apparatus, rotary apparatus
Including the moving plate being fixed on the 3rd bearing pin by screw, the 3rd bearing pin outer peripheral face also slidably connects stator, and stator passes through spiral shell
Nail is fixing with the axle sleeve of the 3rd bearing pin to be connected, and the inner peripheral surface of its bottom bracket axle is slidably connected with moving plate；
Described gripper structure includes the bearing with the first elongated slot, is provided with the gripper piston with gripper piston rod in bearing,
Gripper piston rod one end is fixed with axle ring by the first bearing pin, and axle ring is fixed with the second bearing pin, and this second bearing pin can be along institute
State the first elongated slot displacement；It is positioned on the second bearing pin and is movably set with two first levers with the second bearing pin for cross point, each first
Lever is provided with the second elongated slot, and the second bearing pin can be along the second elongated slot displacement；Each first lever-linked connection has the second lever,
The inner side of this second lever is fixed with V-type fixture block by screw correspondence.
Auto parts processing automatic line mechanical hand the most according to claim 1, it is characterised in that: the end of described arm leads to
Cross deep groove ball bearing and be movably installed with the 3rd bearing pin.
Auto parts processing automatic line mechanical hand the most according to claim 1, it is characterised in that: inside described V-type fixture block
It is provided with spline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610570295.5A CN106113011A (en) | 2016-07-18 | 2016-07-18 | The rotation arm structure of auto parts processing automatic line mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610570295.5A CN106113011A (en) | 2016-07-18 | 2016-07-18 | The rotation arm structure of auto parts processing automatic line mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106113011A true CN106113011A (en) | 2016-11-16 |
Family
ID=57289896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610570295.5A Pending CN106113011A (en) | 2016-07-18 | 2016-07-18 | The rotation arm structure of auto parts processing automatic line mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106113011A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113664866A (en) * | 2021-08-23 | 2021-11-19 | 浙江大学 | Integrated elastic hydraulic robot joint |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4913613A (en) * | 1987-07-10 | 1990-04-03 | Hirschmann Gregory C | Linear unit for an assembly device in handling technology |
| CN1231986A (en) * | 1998-04-10 | 1999-10-20 | 株式会社丰田自动织机制作所 | Lift cylinder and mast assembly of forklift |
| CN202677622U (en) * | 2012-03-13 | 2013-01-16 | 浙江百新机电科技有限公司 | High-simulation intelligent traffic police robot |
| CN202880475U (en) * | 2012-07-12 | 2013-04-17 | 浙江工业大学 | Rotatable simple industry mechanical arm |
| CN204075531U (en) * | 2014-07-08 | 2015-01-07 | 广州瑞松科技有限公司 | The rotary motion mechanism of large rotary machine people automatic welding device |
| CN204248331U (en) * | 2014-09-03 | 2015-04-08 | 山东科技大学 | Novel power assisting manipulator |
| CN105223332A (en) * | 2015-11-04 | 2016-01-06 | 煤炭科学技术研究院有限公司 | Coke reactivity test automation control system |
| CN205363881U (en) * | 2016-01-16 | 2016-07-06 | 中国人民解放军装甲兵工程学院 | Loading and unloading manipulator |
| CN105751201A (en) * | 2016-04-29 | 2016-07-13 | 三峡大学 | Carrying manipulator |
| CN205889246U (en) * | 2016-07-18 | 2017-01-18 | 浙江捷众科技股份有限公司 | Rotatory arm structure of car parts machining transfer machine manipulator |
-
2016
- 2016-07-18 CN CN201610570295.5A patent/CN106113011A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4913613A (en) * | 1987-07-10 | 1990-04-03 | Hirschmann Gregory C | Linear unit for an assembly device in handling technology |
| CN1231986A (en) * | 1998-04-10 | 1999-10-20 | 株式会社丰田自动织机制作所 | Lift cylinder and mast assembly of forklift |
| CN202677622U (en) * | 2012-03-13 | 2013-01-16 | 浙江百新机电科技有限公司 | High-simulation intelligent traffic police robot |
| CN202880475U (en) * | 2012-07-12 | 2013-04-17 | 浙江工业大学 | Rotatable simple industry mechanical arm |
| CN204075531U (en) * | 2014-07-08 | 2015-01-07 | 广州瑞松科技有限公司 | The rotary motion mechanism of large rotary machine people automatic welding device |
| CN204248331U (en) * | 2014-09-03 | 2015-04-08 | 山东科技大学 | Novel power assisting manipulator |
| CN105223332A (en) * | 2015-11-04 | 2016-01-06 | 煤炭科学技术研究院有限公司 | Coke reactivity test automation control system |
| CN205363881U (en) * | 2016-01-16 | 2016-07-06 | 中国人民解放军装甲兵工程学院 | Loading and unloading manipulator |
| CN105751201A (en) * | 2016-04-29 | 2016-07-13 | 三峡大学 | Carrying manipulator |
| CN205889246U (en) * | 2016-07-18 | 2017-01-18 | 浙江捷众科技股份有限公司 | Rotatory arm structure of car parts machining transfer machine manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113664866A (en) * | 2021-08-23 | 2021-11-19 | 浙江大学 | Integrated elastic hydraulic robot joint |
| CN113664866B (en) * | 2021-08-23 | 2024-02-27 | 浙江大学 | Integrated elastic hydraulic robot joint |
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| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161116 |